CN101007510A - Hybrid power automobile motor control method - Google Patents
Hybrid power automobile motor control method Download PDFInfo
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- CN101007510A CN101007510A CNA2006100981830A CN200610098183A CN101007510A CN 101007510 A CN101007510 A CN 101007510A CN A2006100981830 A CNA2006100981830 A CN A2006100981830A CN 200610098183 A CN200610098183 A CN 200610098183A CN 101007510 A CN101007510 A CN 101007510A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/50—Reducing energy consumption in communication networks in wire-line communication networks, e.g. low power modes or reduced link rate
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The invention discloses a control method of composite power vehicle motor. The control method of the invention includes the following steps: the whole vehicle controller sends operation mode, torque order and speed order, etc. to motor control module through the whole vehicle communication CAN interface module; through sensor sampling, analogue/digital conversion, sensor measuring processing module and ADC module, the permanent magnet motor phase current signals and physical parameters signal values are got, after motor control module receives said information, the permanent magnet motor vector control module judges the operation mode requirement, then definite the launching orders; the invention can realize the basic functions of starting motor, regenerating braking torque, providing auxiliary drive torque and supplying driving power, and can recovery brake energy, provide auxiliary torque and reduce engine load.
Description
Technical field
The invention belongs to the autonomous cruise speed system field, particularly a kind of electric machine control system that is used for hybrid vehicle.
Background technology
Under the dual-pressure of fuel economy and Abgasgesetz, hybrid vehicle is further developed.Because hybrid vehicle all is better than car powered by conventional energy at aspects such as fuel economy, exhaust emission, drivings, hybrid vehicle can also improve driving performance simultaneously, improves and drives enjoyment.For example, hybrid vehicle can be realized idle stop, fundamentally solves the idle noise that has reduced puzzlement chaufeur and occupant, carries out energy recovery by regenerative brake, can effectively reduce loss, saves oil consumption.From now on, hybrid vehicle, particularly in, low hybrid vehicle will occupy very big proportion at market for automobiles.Motor is as crucial in a hybrid powder motor parts, for the raising of electric machine control performance the hybrid power car overall performance had very important effect.
Summary of the invention
The control method that the purpose of this invention is to provide a kind of mixed power electric motor of automobile makes the energy management system of hybrid vehicle reach the requirement of minimum fuel oil consumption, minimum exhaust emissions simultaneously.
For achieving the above object, the control method of mixed power electric motor of automobile disclosed by the invention has adopted following controlled step:
A, entire car controller send information such as operational mode, torque command and speed command by car load communication CAN interface module to motor control module;
B, by electric current, voltage and temperature sensor regulating circuit AD sampling magneto-electric machine A phase current, B phase current sensor signal, stator winding temperature and inverter temperature signal, and the hall position sensor signal, obtain magneto-electric machine phase current signal, motor position angle θ, motor speed ω and motor temperature and inverter temperature signal value by analogue to digital conversion and sensor measurement processing module ADC module;
C, signals such as above-mentioned magneto-electric machine phase current signal are sent motor by the interface of entire car controller by communication CAN interface module information to entire car controller, input to the magneto-electric machine vector control module simultaneously;
After D, motor control module received these information, the magneto-electric machine vector control module can require to judge to operational mode, determined that the speed command of motor vector control module and torque command value carry out the motor vector controlled;
E, magneto-electric machine vector control module input phase current and motor position angle θ obtain d-axis and hand over the shaft current value of feedback by Clark and Park conversion; Import the speed feedback value of motor speed ω simultaneously as vector control module.
For cooperating control method of the present invention, be basic function and the four kinds of pattern controls that realize hybrid powder motor, used Ti company DSP TMS320F28X chip as treater, the major control algorithm comprises: motor position/speed is determined, vector control algorithm, weak magnetic control system, space vector pulse width modulation SVPWM control, sensor fault detects and with the functions such as communication of HCU (Hybridcontrol unit), the application of vector controlled can obtain 3 phase PMSM sinusoidal currents.
The present invention can realize start the engine, regenerative brake, the assistive drive moment of torsion is provided and provides driving power these basic function.The present invention can reclaim braking energy, auxiliary torque is provided, and reduces engine load; Have simultaneously and start level and smooth the startup to reduce remarkable having a few such as harm to actuator.
Description of drawings
Fig. 1 is the functional block diagram of control module of the present invention;
Fig. 2 is a mode converting schematic block diagram among the present invention;
Fig. 3 is torque control and a speed control sketch among the present invention;
Fig. 4 is the control flow chart of vector controlled current control amount.
The specific embodiment
The control method of mixed power electric motor of automobile disclosed by the invention comprises that following controlled step: A, entire car controller 10 send information such as operational mode, torque command and speed command by car load communication CAN interface module 20 to motor control module;
B, by electric current, voltage and temperature sensor regulating circuit AD sampling magneto-electric machine A phase current, B phase current sensor signal, stator winding temperature and inverter temperature signal, and the hall position sensor signal, obtain magneto-electric machine phase current signal, motor position angle θ, motor speed ω and motor temperature and inverter temperature signal value by analogue to digital conversion and sensor measurement processing module ADC module 60;
C, signals such as above-mentioned magneto-electric machine phase current signal are sent motor by the interface of entire car controller 10 by communication CAN interface module 20 information to entire car controller 10, input to magneto-electric machine vector control module 50 simultaneously;
After D, motor control module receive these information, magneto-electric machine vector control module 50 can require to judge to operational mode, according to the characteristic of motor itself and the motor temperature and the inverter temperature value of feedback entire car controller is judged for the speed command and the torque command of motor, determined that the speed command of motor vector control module 50 and torque command value carry out the motor vector controlled.
E, magneto-electric machine vector control module 50 input phase current and motor position angle θ obtain d-axis and hand over the shaft current value of feedback by Clark and Park conversion; Import the speed feedback value of motor speed ω simultaneously as vector control module 50.
Requirement according to operational mode and speed command and torque command, by adopting every ampere of torque peak control or weak magnetic control system to produce d-axis and handing over the shaft current reference value, motor d-axis and friendship shaft current are carried out PI control, output d-axis and quadrature-axis voltage value, adopt Clark and Park inverse transformation to produce space vector pulse width modulation SVPWM incoming signal again, space vector pulse width modulation SVPWM output signal input inverter drives the motor rotation.
Described operational mode comprises velocity mode, torque mode, failure mode, zero torque mode.
The application of vector controlled can obtain 3 phase PMSM sinusoidal currents, and it has been widely used in 3 phase permanent-magnet synchronous and has exchanged in the control of PMSM AC motor speed.Because a large amount of needs that calculate, high-powered DSP or other microprocessors that can carry out vector controlled are employed.
It is as above shown in Figure 1: after DSP finishes configuration, control variable initialization and transducer calibration, motor control unit MCU waits for and sends first CAN information from HCU, first information must be that motor is set is zero torque mode, could operate otherwise MCU waits until first correct information of sending from HCU.
Below by pattern control the present invention is further described.
In this hybrid power system, motor has following four kinds of operational modes.MCU receives information by CAN from HCU, and the MCU operational mode is wherein arranged, and will pass through the pattern bug check after motor control unit MCU receives new model, and velocity mode is directly directly changed generation pattern mistake to velocity mode to torque mode or torque mode.
(1) velocity mode
When this pattern only was used in engine starting, HCU gave motor control unit MCU speed command, if motor control unit MCU present speed has exceeded the engine starting speed of appointment, then the MCU rate control instruction can be clamped down within the range of permission.The motor control module control loop is regulated Motor torque to reach the speed that makes motor operate in appointment, and this moment of torsion can not become negative value, if motor is driven to when requiring the higher rotating speed of speed, it is zero that control torque will be clamped down on.
(2) torque mode
Only after the engine starting success, motor operates in torque mode.This pattern provides auxiliary torque and regenerative brake function, and torque control is the core of this motor vector controlled; The motor demand torque is instructed from HCU CAN information; Provide torque peak if the Motor torque that MCU obtains surpasses motor, this torque command can be clamped down on is maximum torque.In order to offset the influence of counter electromotive force to motor, can reach the moment of torsion of demand, when high speed, use field weakening control method.Motor control unit MCU control loop can be regulated moment of torsion and remain to command value.Speed can not become negative value, if command torque can make the motor counter-rotating, then the electric machine control torque tong is made as zero.
(3) failure mode
Failure mode at the system failure for example is: sensor fault, door driving malfunction, fault of converter etc. are used for protecting motor control unit MCU hardware and motor.For motor control unit MCU fault two kinds of failure mode processing methods are arranged.
If detecting MCU, A DSP can recover fault (irrelevant) with controller hardware, such as: sensor failure, motor hypervelocity etc., DSP will forbid producing drive signal.If weak magnetic control system adopts, DSP PWM control output forbids, otherwise 3 phase driving switch are clamped down on and are closure.Inverter is up to system reset in the DSP retentive control, stops, lighting a fire again just to cancel and clamp down on action as driving engine, does not have uncontrollable battery charge in this pattern.
If B DSP detects the fault relevant with controller hardware.Such as: inverter make mistakes, door driving power fault etc.DSP can not control Inverter and can not produce drive signal.DSP can pass to HCU to breakdown signal by CAN, and HCU can make corresponding action till system reset to hardware.
(4) zero torque mode
The motor Be Controlled provides zero moment of torsion output, when high speed, needs the weak magnetoelectricity in the machine winding to flow with the compacting counter electromotive force.Therefore zero torque mode is velocity mode and torque mode switch transition pattern, for the motor operation provides reliable guarantee.Mode converting is illustrated in fig. 2 shown below: discontented foot figure transduction pathway all be considered to fault.
The below control of explanation position and speed and speed PI.
In this hybrid power system, the linear position Hall element is used to the measuring position signal.Installing Hall magnet ring on machine shaft, installing both sexes Hall element on stator.In order to improve the precision of position decoding, the method by filtering in this hybrid vehicle system reduces to be present in the influence of noise in the Hall element orthogonal signals.In engine starting control, promptly during velocity mode, simple single order LPF application purpose is in order to reduce the influence of high frequency noise; After driving engine was activated, bandpass filtering was employed.By carrying out filtering, can eliminate Hall element temperature rise dc shift and high frequency noise with bandpass filtering.
Fig. 3 is torque control and speed control sketch, and dotted portion shown in the figure is a speed PI control part.
When the motor operational mode is velocity mode, the output torque command value is clamped down on and is speed PI control output result, and when motor ran on torque mode, the torque command value was clamped down on the torque command that sends to MCU for HCU by CAN, when running on other patterns, it is zero that the torque command value is clamped down on.
The process of weak magnetic control system below is described.
The torque command value that obtains is as shown in Figure 3 considered because the problem of electric machine temperature rise is revised for the torque command value.Adopt the method for vector controlled when this motor.By the control stator current, by the motor-field orientation stator current is divided into excitatory component and torque component, employing is controlled the method for the strictness simulation of DC machine, optimizes weak magnetic control molding piece by moment of torsion, obtains the needed friendship of vector controlled, direct-axis current reference value.
The control operation and the inverter of motor are closely related, after motor speed is greater than base speed value, because the restriction of inverter bus voltage, motor is operated at a high speed, need carry out expansion speed to motor, under the certain prerequisite in permanent magnet machine rotor magnetic field, by regulating stator current, the balance of voltage when increasing stator d-axis demagnetizing current component and keeping high-speed cruising reaches the purpose of weak magnetism speed expansion, weak magnetic control system that Here it is.
In conjunction with Fig. 4, by the d-c bus voltage value of measuring being determined motor base speed value, according to this moment motor speed and basic speed ratio, if motor speed is greater than base speed, then motor runs on weak magnetic control system zone, otherwise run on every ampere of torque peak control area,, determine the d-axis of optimizing and hand over the shaft current reference value according to weak magnetic control system algorithm or every ampere of torque peak control algorithm.
In vector controlled and space vector pulse width modulation SVPWM control, after straight, friendship axle control current reference value are determined, according to vector control algorithm, the three-phase current signal and the position signal that utilize current sensor and Hall element to collect, by Clarke and Park conversion, the two-phase rectangular axis that three phase sine current signal based on the stator rest frame is changed into based on the rotor rotating coordinate system is the feedback signal input of dq shaft current as current PI D control loop, and electric current is carried out PID control.In the process of electric machine control, along with the increase of rectangular axis electric current and rotating speed, electric machine non-linear coupling part branch havoc alternating current-direct current controller performance is therefore by compensating non-linear, improve controller performance, by PID electric current loop output rectangular axis voltage signal.In order to improve the tractive performance of hybrid vehicle, the switching loss of power device is one of most important performance figure.Under the prior art condition, the performance and the efficient that improve motor driven systems also are very important rings, and in cell pressure and pulse width modulation cycle one timing, inverter improves significant to the degree of utilization of dc voltage.In this electric machine control, by utilizing the various combination of each brachium pontis switch controlling signal of inverter, the output region vector that makes inverter is as far as possible near circular.Adopt the space vector pulse width modulation technology, the motor pulsation is reduced, the current waveform distortion reduces, and voltage utilization is improved.Conventional SPWM is when completely modulating, and the first-harmonic peak value of output phase voltage is a DC bus-bar voltage
, the fundamental voltage amplitude of line voltage is a bus voltage
, and when adopting the SVPWM modulation, the phase voltage fundamental voltage amplitude of output is a DC bus-bar voltage
, the basic amplitude of line voltage equals DC bus-bar voltage.In conventional SPWM modulation, modulation ratio is can be greater than 1, and the degree of modulation of SVPWM can reach 1.1547, and keeps linear modulation.Therefore adopt the method for SVPWM that inverter is controlled.Adopting Clarke and Park inverse transformation, is the rectangular axis voltage transitions of PID control output the three-phase voltage signal of stator rest frame, and the parameter that calculates SVPWM by the SVPWM algorithm is carried out the modulation of SVPWM.
Below in conjunction with the electric machine control flow process being described as Fig. 1.
Entire car controller sends information such as operational mode, torque command and speed command by car load communication CAN interface to motor control module.By electric current, voltage and temperature sensor regulating circuit AD sampling magneto-electric machine A phase current, B phase current sensor signal, stator winding temperature and inverter temperature signal, and hall position sensor signal, obtain magneto-electric machine phase current signal, motor position angle θ, motor speed ω and motor temperature and inverter temperature signal value by analogue to digital conversion and sensor measurement processing module, the information that sends motor by the entire car controller interface by the CAN communication inputs to the magneto-electric machine vector control module simultaneously to entire car controller.After motor control module receives these information, the magneto-electric machine vector control module can require to judge to operational mode, according to the characteristic of motor itself and the motor temperature and the inverter temperature value of feedback entire car controller is judged for the speed command and the torque command of motor, determined that the speed command of motor vector control module and torque command value carry out the motor vector controlled.In the magneto-electric machine vector control module, input phase current and motor position angle θ obtain d-axis and hand over the shaft current value of feedback by Clark and Park conversion; Input motor speed ω is as the speed feedback value of vector control module.Requirement according to operational mode and speed command and torque command, by adopting every ampere of torque peak control or weak magnetic control system to produce d-axis and handing over the shaft current reference value, then motor d-axis and friendship shaft current are carried out PI control, output d-axis and quadrature-axis voltage value, adopt Clark and Park inverse transformation to produce the SVPWM incoming signal again, SVPWM output signal input inverter drives the motor rotation.
Claims (4)
1, a kind of control method of mixed power electric motor of automobile the present invention includes following controlled step:
A, entire car controller (10) send information such as operational mode, torque command and speed command by car load communication CAN interface module (20) to motor control module;
B, by electric current, voltage and temperature sensor regulating circuit AD sampling magneto-electric machine A phase current, B phase current sensor signal, stator winding temperature and inverter temperature signal, and the hall position sensor signal, obtain magneto-electric machine phase current signal, motor position angle θ, motor speed ω and motor temperature and inverter temperature signal value by analogue to digital conversion and sensor measurement processing module ADC module (60);
C, signals such as above-mentioned magneto-electric machine phase current signal are sent motor by the interface of entire car controller (10) by communication CAN interface module (20) information to entire car controller (10), input to magneto-electric machine vector control module (50) simultaneously;
After D, motor control module received these information, magneto-electric machine vector control module (50) can require to judge to operational mode, determined that the speed command of motor vector control module (50) and torque command value carry out the motor vector controlled;
E, magneto-electric machine vector control module (50) input phase current and motor position angle θ obtain d-axis and hand over the shaft current value of feedback by Clark and Park conversion; Import the speed feedback value of motor speed ω simultaneously as vector control module (50).
2, the control method of mixed power electric motor of automobile according to claim 1, it is characterized in that: according to the requirement of operational mode and speed command and torque command, by adopting every ampere of torque peak control or weak magnetic control system to produce d-axis and handing over the shaft current reference value, motor d-axis and friendship shaft current are carried out PI control, output d-axis and quadrature-axis voltage value, adopt Clark and Park inverse transformation to produce the SVPWM incoming signal again, SVPWM output signal input inverter drives the motor rotation.
3, the control method of mixed power electric motor of automobile according to claim 1, it is characterized in that: magneto-electric machine vector control module (50) can require to judge, according to the characteristic of motor itself and the motor temperature and the inverter temperature value of feedback entire car controller be judged for the speed command and the torque command of motor operational mode.
4, the control method of mixed power electric motor of automobile according to claim 1 is characterized in that: described operational mode comprises velocity mode, torque mode, failure mode, zero torque mode.
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| CN200610098183A CN101007510B (en) | 2006-12-08 | 2006-12-08 | Hybrid power automobile motor control method |
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| CN200610098183A CN101007510B (en) | 2006-12-08 | 2006-12-08 | Hybrid power automobile motor control method |
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| CN101447762B (en) * | 2007-11-26 | 2011-03-23 | 通用汽车环球科技运作公司 | Phase current sampling and regulating apparatus and methods, and electric motor drive systems |
| CN102087150A (en) * | 2010-11-25 | 2011-06-08 | 奇瑞汽车股份有限公司 | Electric automobile motor temperature sensor system and detection method thereof |
| CN102324735A (en) * | 2011-09-14 | 2012-01-18 | 奇瑞汽车股份有限公司 | Electric vehicle and motor overspeed protection method and device of same |
| CN102664582A (en) * | 2011-11-16 | 2012-09-12 | 奇瑞汽车股份有限公司 | Power generation control method of range-extended electric vehicle |
| CN102963267A (en) * | 2012-12-03 | 2013-03-13 | 山推工程机械股份有限公司 | Method for recovering negative energy in hybrid power bulldozer and vehicle control unit |
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| CN102087150A (en) * | 2010-11-25 | 2011-06-08 | 奇瑞汽车股份有限公司 | Electric automobile motor temperature sensor system and detection method thereof |
| CN102087150B (en) * | 2010-11-25 | 2013-07-17 | 奇瑞汽车股份有限公司 | Detection method of electric automobile motor temperature sensor system |
| CN102324735A (en) * | 2011-09-14 | 2012-01-18 | 奇瑞汽车股份有限公司 | Electric vehicle and motor overspeed protection method and device of same |
| CN102324735B (en) * | 2011-09-14 | 2014-11-05 | 奇瑞汽车股份有限公司 | Electric vehicle and motor overspeed protection method and device of same |
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